A map generation device that detects a pre-specified target object based on image information obtained by imaging from each of a plurality of vehicles; estimates position information that is an absolute position of the detected target object, the position information being estimated based on a relative position of the detected target object and each vehicle imaging the image information in which the target object is detected, and position information that is an absolute position of each vehicle at a time of imaging the target object; and integrates matching target objects included in a plurality of estimated target objects, the matching target objects being integrated based on the position information of the respective target objects and the image information of the images in which the respective target objects are included, and a number and positions of the target objects being specified.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The map generation device according to claim 1, wherein the target objects are clustered by estimated positions of the target objects, and the number and positions of the target objects are specified based on differences between feature quantities of the target objects that are present in each cluster.
3. The map generation device according to claim 1, wherein the target objects are clustered based on estimated positions of the target objects and feature quantities of images of the target objects, and the number and positions of the target objects are specified based on feature quantity differences between the target objects that are present in each cluster.
6. The map generation device according to claim 1, the processor is further configured to, in a case in which the number and position of a target object have been specified from a number of the image information, the number being at least a pre-specified threshold, add or remove information of the target object on a pre-existing map and update the map.
8. The non-transitory recording medium according to claim 7, wherein the target objects are clustered by estimated positions of the target objects, and the number and positions of the target objects are specified based on differences between feature quantities of the target objects that are present in each cluster.
9. The non-transitory recording medium according to claim 7, wherein the target objects are clustered based on estimated positions of the target objects and feature quantities of images of the target objects, and the number and positions of the target objects are specified based on feature quantity differences between the target objects that are present in each cluster.
12. The non-transitory recording medium according to claim 7, the map generation processing further comprising, in a case in which the number and position of a target object have been specified from a number of the image information, the number being at least a pre-specified threshold, adding or removing information of the target object on a pre-existing map and updating the map.
14. The map generation method according to claim 13, wherein the target objects are clustered by estimated positions of the target objects, and the number and positions of the target objects are specified based on differences between feature quantities of the target objects that are present in each cluster.
15. The map generation method according to claim 13, wherein the target objects are clustered based on estimated positions of the target objects and feature quantities of images of the target objects, and the number and positions of the target objects are specified based on feature quantity differences between the target objects that are present in each cluster.
18. The map generation method according to claim 13, further comprising, in a case in which the number and position of a target object have been specified from a number of the image information, the number being at least a pre-specified threshold, adding or removing information of the target object on a pre-existing map and updating the map.
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December 17, 2020
November 1, 2022
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